TauLabs/TauLabs — pull request #1392 by peabody124 (2014-11-11 17:47:30+00:00)
Title: Improve landing in altitude hold mode

Landing in altitude hold mode doesn't work great because once
it lands the integral components wind up. This makes it so when
throttle is < 0 then a landing flag is passed to the AH module and
it can run the throttle below zero which zeros the integral.

It also makes the AH mode deadband programmable (although
leaves the default at 10% of the range).